planning_groups_widget.cpp

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/* Author: Dave Coleman */
 
// ******************************************************************************************
/* DEVELOPER NOTES
 
   This widget has 6 subscreens, located in somewhat different places
   - Main screen, the tree view of all groups & subgroups - embedded in this file as a function
   - Add/Edit Group screen - located in group_edit_widget.cpp
   - Joint Collection Screen - implements the double_list_widget.cpp widget
   - Link Collection Screen - implements the double_list_widget.cpp widget
   - Kinematic Chain Screen - uses it own custom widget - kinematic_chain_widget.cpp
   - Subgroup Screen - implements the double_list_widget.cpp widget
*/
// ******************************************************************************************
 
#include <moveit_setup_framework/qt/helper_widgets.hpp>
#include <moveit_setup_srdf_plugins/planning_groups_widget.hpp>
#include <boost/lexical_cast.hpp>
 
// Qt
#include <QApplication>
#include <QComboBox>
#include <QHBoxLayout>
#include <QLabel>
#include <QLineEdit>
#include <QMessageBox>
#include <QPushButton>
#include <QStackedWidget>
#include <QTableWidget>
#include <QTreeWidget>
#include <QTreeWidgetItem>
#include <QVBoxLayout>
 
namespace moveit_setup
{
namespace srdf_setup
{
// Name of rviz topic in ROS
static const std::string VIS_TOPIC_NAME = "planning_components_visualization";
 
// ******************************************************************************************
// Constructor
// ******************************************************************************************
void PlanningGroupsWidget::onInit()
{
  // Basic widget container
  QVBoxLayout* layout = new QVBoxLayout();
 
  // Top Label Area ------------------------------------------------
  auto header = new HeaderWidget(
      "Define Planning Groups",
      "Create and edit 'joint model' groups for your robot based on joint collections, "
      "link collections, kinematic chains or subgroups. "
      "A planning group defines the set of (joint, link) pairs considered for planning "
      "and collision checking. Define individual groups for each subset of the robot you want to plan for.\n"
      "Note: when adding a link to the group, its parent joint is added too and vice versa.",
      this);
  layout->addWidget(header);
 
  // Left Side ---------------------------------------------
 
  // Create left side widgets
  groups_tree_widget_ = createContentsWidget();  // included in this file
 
  // Joints edit widget
  joints_widget_ = new DoubleListWidget(this, "Joint Collection", "Joint");
  connect(joints_widget_, SIGNAL(cancelEditing()), this, SLOT(cancelEditing()));
  connect(joints_widget_, SIGNAL(doneEditing()), this, SLOT(saveJointsScreen()));
  connect(joints_widget_, SIGNAL(previewSelected(std::vector<std::string>)), this,
          SLOT(previewSelectedJoints(std::vector<std::string>)));
 
  // Links edit widget
  links_widget_ = new DoubleListWidget(this, "Link Collection", "Link");
  connect(links_widget_, SIGNAL(cancelEditing()), this, SLOT(cancelEditing()));
  connect(links_widget_, SIGNAL(doneEditing()), this, SLOT(saveLinksScreen()));
  connect(links_widget_, SIGNAL(previewSelected(std::vector<std::string>)), this,
          SLOT(previewSelectedLink(std::vector<std::string>)));
 
  // Chain Widget
  chain_widget_ = new KinematicChainWidget(this, rviz_panel_);
  connect(chain_widget_, SIGNAL(cancelEditing()), this, SLOT(cancelEditing()));
  connect(chain_widget_, SIGNAL(doneEditing()), this, SLOT(saveChainScreen()));
 
  // Subgroups Widget
  subgroups_widget_ = new DoubleListWidget(this, "Subgroup", "Subgroup");
  connect(subgroups_widget_, SIGNAL(cancelEditing()), this, SLOT(cancelEditing()));
  connect(subgroups_widget_, SIGNAL(doneEditing()), this, SLOT(saveSubgroupsScreen()));
  connect(subgroups_widget_, SIGNAL(previewSelected(std::vector<std::string>)), this,
          SLOT(previewSelectedSubgroup(std::vector<std::string>)));
 
  // Group Edit Widget
  group_edit_widget_ = new GroupEditWidget(this, setup_step_);
  connect(group_edit_widget_, SIGNAL(cancelEditing()), this, SLOT(cancelEditing()));
  connect(group_edit_widget_, SIGNAL(deleteGroup()), this, SLOT(deleteGroup()));
  connect(group_edit_widget_, SIGNAL(save()), this, SLOT(saveGroupScreenEdit()));
  connect(group_edit_widget_, SIGNAL(saveJoints()), this, SLOT(saveGroupScreenJoints()));
  connect(group_edit_widget_, SIGNAL(saveLinks()), this, SLOT(saveGroupScreenLinks()));
  connect(group_edit_widget_, SIGNAL(saveChain()), this, SLOT(saveGroupScreenChain()));
  connect(group_edit_widget_, SIGNAL(saveSubgroups()), this, SLOT(saveGroupScreenSubgroups()));
 
  // Combine into stack: Note, order is same as GroupType!
  stacked_widget_ = new QStackedWidget(this);
  stacked_widget_->addWidget(groups_tree_widget_);  // screen index 0
  stacked_widget_->addWidget(joints_widget_);       // screen index 1
  stacked_widget_->addWidget(links_widget_);        // screen index 2
  stacked_widget_->addWidget(chain_widget_);        // screen index 3
  stacked_widget_->addWidget(subgroups_widget_);    // screen index 4
  stacked_widget_->addWidget(group_edit_widget_);   // screen index 5
 
  showMainScreen();
 
  // Finish GUI -----------------------------------------------------------
 
  layout->addWidget(stacked_widget_);
  setLayout(layout);
 
  // process the gui
  QApplication::processEvents();
}
 
// ******************************************************************************************
// Create the main tree view widget
// ******************************************************************************************
QWidget* PlanningGroupsWidget::createContentsWidget()
{
  // Main widget
  QWidget* content_widget = new QWidget(this);
 
  // Basic widget container
  QVBoxLayout* layout = new QVBoxLayout(this);
 
  // Tree Box ----------------------------------------------------------------------
 
  groups_tree_ = new QTreeWidget(this);
  groups_tree_->setHeaderLabel("Current Groups");
  connect(groups_tree_, SIGNAL(itemDoubleClicked(QTreeWidgetItem*, int)), this, SLOT(editSelected()));
  connect(groups_tree_, SIGNAL(itemClicked(QTreeWidgetItem*, int)), this, SLOT(previewSelected()));
  layout->addWidget(groups_tree_);
 
  // Bottom Controls -------------------------------------------------------------
 
  QHBoxLayout* controls_layout = new QHBoxLayout();
 
  // Expand/Contract controls
  QLabel* expand_controls = new QLabel(this);
  expand_controls->setText("<a href='expand'>Expand All</a> <a href='contract'>Collapse All</a>");
  connect(expand_controls, SIGNAL(linkActivated(const QString)), this, SLOT(alterTree(const QString)));
  controls_layout->addWidget(expand_controls);
 
  // Spacer
  controls_layout->addItem(new QSpacerItem(20, 20, QSizePolicy::Expanding, QSizePolicy::Minimum));
 
  // Delete Selected Button
  btn_delete_ = new QPushButton("&Delete Selected", this);
  btn_delete_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
  btn_delete_->setMaximumWidth(300);
  connect(btn_delete_, SIGNAL(clicked()), this, SLOT(deleteGroup()));
  controls_layout->addWidget(btn_delete_);
  controls_layout->setAlignment(btn_delete_, Qt::AlignRight);
 
  //  Edit Selected Button
  btn_edit_ = new QPushButton("&Edit Selected", this);
  btn_edit_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
  btn_edit_->setMaximumWidth(300);
  btn_edit_->hide();  // show once we know if there are existing groups
  connect(btn_edit_, SIGNAL(clicked()), this, SLOT(editSelected()));
  controls_layout->addWidget(btn_edit_);
  controls_layout->setAlignment(btn_edit_, Qt::AlignRight);
 
  // Add Group Button
  QPushButton* btn_add = new QPushButton("&Add Group", this);
  btn_add->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
  btn_add->setMaximumWidth(300);
  connect(btn_add, SIGNAL(clicked()), this, SLOT(addGroup()));
  controls_layout->addWidget(btn_add);
  controls_layout->setAlignment(btn_add, Qt::AlignRight);
 
  // Add Controls to layout
  layout->addLayout(controls_layout);
 
  // Set layout
  content_widget->setLayout(layout);
 
  return content_widget;
}
 
// ******************************************************************************************
// Displays data in the link_pairs_ data structure into a QtTableWidget
// ******************************************************************************************
void PlanningGroupsWidget::loadGroupsTree()
{
  // Disable Tree
  groups_tree_->setUpdatesEnabled(false);  // prevent table from updating until we are completely done
  groups_tree_->setDisabled(true);         // make sure we disable it so that the cellChanged event is not called
  groups_tree_->clear();                   // reset the tree
 
  // Display all groups by looping through them
  std::vector<srdf::Model::Group>& groups = setup_step_.getContainer();
  for (srdf::Model::Group& group : groups)
  {
    loadGroupsTreeRecursive(group, nullptr);
  }
 
  // Re-enable Tree
  groups_tree_->setUpdatesEnabled(true);  // prevent table from updating until we are completely done
  groups_tree_->setDisabled(false);       // make sure we disable it so that the cellChanged event is not called
 
  // Show Edit button if there are things to edit
  if (!groups.empty())
  {
    btn_edit_->show();
    btn_delete_->show();
  }
  else
  {
    btn_edit_->hide();
    btn_delete_->hide();
  }
 
  alterTree("expand");
}
 
// ******************************************************************************************
// Recursively Adds Groups, and subgroups to groups...
// ******************************************************************************************
void PlanningGroupsWidget::loadGroupsTreeRecursive(srdf::Model::Group& group_it, QTreeWidgetItem* parent)
{
  // Fonts for tree
  const QFont top_level_font(QFont().defaultFamily(), 11, QFont::Bold);
  const QFont type_font(QFont().defaultFamily(), 11, QFont::Normal, QFont::StyleItalic);
 
  QTreeWidgetItem* group;
 
  // Allow a subgroup to open into a whole new group
  if (parent == nullptr)
  {
    group = new QTreeWidgetItem(groups_tree_);
    group->setText(0, group_it.name_.c_str());
    group->setFont(0, top_level_font);
    group->setData(0, Qt::UserRole, QVariant::fromValue(PlanGroupType(&group_it, GROUP)));
    groups_tree_->addTopLevelItem(group);
  }
  else
  {
    group = new QTreeWidgetItem(parent);
    group->setText(0, group_it.name_.c_str());
    group->setFont(0, top_level_font);
    group->setData(0, Qt::UserRole, QVariant::fromValue(PlanGroupType(&group_it, GROUP)));
    parent->addChild(group);
  }
 
  // Joints --------------------------------------------------------------
  QTreeWidgetItem* joints = new QTreeWidgetItem(group);
  joints->setText(0, "Joints");
  joints->setFont(0, type_font);
  joints->setData(0, Qt::UserRole, QVariant::fromValue(PlanGroupType(&group_it, JOINT)));
  group->addChild(joints);
 
  // Loop through all aval. joints
  for (std::vector<std::string>::const_iterator joint_it = group_it.joints_.begin(); joint_it != group_it.joints_.end();
       ++joint_it)
  {
    QTreeWidgetItem* j = new QTreeWidgetItem(joints);
    j->setData(0, Qt::UserRole, QVariant::fromValue(PlanGroupType(&group_it, JOINT)));
    std::string joint_name;
 
    // Get the type of joint this is
    std::string joint_type = setup_step_.getJointType(*joint_it);
    if (!joint_type.empty())
    {
      joint_name = *joint_it + " - " + joint_type;
    }
    else
    {
      joint_name = *joint_it;
    }
 
    // Add to tree
    j->setText(0, joint_name.c_str());
    joints->addChild(j);
  }
 
  // Links -------------------------------------------------------------
  QTreeWidgetItem* links = new QTreeWidgetItem(group);
  links->setText(0, "Links");
  links->setFont(0, type_font);
  links->setData(0, Qt::UserRole, QVariant::fromValue(PlanGroupType(&group_it, LINK)));
  group->addChild(links);
 
  // Loop through all aval. links
  for (std::vector<std::string>::const_iterator joint_it = group_it.links_.begin(); joint_it != group_it.links_.end();
       ++joint_it)
  {
    QTreeWidgetItem* j = new QTreeWidgetItem(links);
    j->setData(0, Qt::UserRole, QVariant::fromValue(PlanGroupType(&group_it, LINK)));
    j->setText(0, joint_it->c_str());
    links->addChild(j);
  }
 
  // Chains -------------------------------------------------------------
  QTreeWidgetItem* chains = new QTreeWidgetItem(group);
  chains->setText(0, "Chain");
  chains->setFont(0, type_font);
  chains->setData(0, Qt::UserRole, QVariant::fromValue(PlanGroupType(&group_it, CHAIN)));
  group->addChild(chains);
 
  // Warn if there is more than 1 chain per group
  static bool warn_once = true;
  if (group_it.chains_.size() > 1 && warn_once)
  {
    warn_once = false;
    QMessageBox::warning(this, "Group with Multiple Kinematic Chains",
                         "Warning: this MoveIt Setup Assistant is only designed to handle one kinematic chain per "
                         "group. The loaded SRDF has more than one kinematic chain for a group. A possible loss of "
                         "data may occur.");
  }
 
  // Loop through all aval. chains
  for (std::vector<std::pair<std::string, std::string> >::const_iterator chain_it = group_it.chains_.begin();
       chain_it != group_it.chains_.end(); ++chain_it)
  {
    QTreeWidgetItem* j = new QTreeWidgetItem(chains);
    j->setData(0, Qt::UserRole, QVariant::fromValue(PlanGroupType(&group_it, CHAIN)));
    j->setText(0, QString(chain_it->first.c_str()).append("  ->  ").append(chain_it->second.c_str()));
    chains->addChild(j);
  }
 
  // Subgroups -------------------------------------------------------------
  QTreeWidgetItem* subgroups = new QTreeWidgetItem(group);
  subgroups->setText(0, "Subgroups");
  subgroups->setFont(0, type_font);
  subgroups->setData(0, Qt::UserRole, QVariant::fromValue(PlanGroupType(&group_it, SUBGROUP)));
  group->addChild(subgroups);
 
  // Loop through all aval. subgroups
  for (std::vector<std::string>::iterator subgroup_it = group_it.subgroups_.begin();
       subgroup_it != group_it.subgroups_.end(); ++subgroup_it)
  {
    // Find group with this subgroups' name
    srdf::Model::Group* searched_group;
 
    try
    {
      searched_group = setup_step_.find(*subgroup_it);
    }
    catch (const std::runtime_error& e)
    {
      QMessageBox::critical(this, "Error Loading SRDF",
                            QString("Subgroup '")
                                .append(subgroup_it->c_str())
                                .append("' of group '")
                                .append(group_it.name_.c_str())
                                .append("' not found. Your SRDF is invalid"));
      return;  // TODO: something better for error handling?
    }
 
    // Recurse this function for each new group
    loadGroupsTreeRecursive(*searched_group, subgroups);
  }
}
 
// ******************************************************************************************
// Highlight the group of whatever element is selected in the tree view
// ******************************************************************************************
void PlanningGroupsWidget::previewSelected()
{
  QTreeWidgetItem* item = groups_tree_->currentItem();
 
  // Check that something was actually selected
  if (item == nullptr)
    return;
 
  // Get the user custom properties of the currently selected row
  PlanGroupType plan_group = item->data(0, Qt::UserRole).value<PlanGroupType>();
 
  // Unhighlight all links
  rviz_panel_->unhighlightAll();
 
  // Highlight the group
  rviz_panel_->highlightGroup(plan_group.group_->name_);
}
 
// ******************************************************************************************
// Edit whatever element is selected in the tree view
// ******************************************************************************************
void PlanningGroupsWidget::editSelected()
{
  QTreeWidgetItem* item = groups_tree_->currentItem();
 
  // Check that something was actually selected
  if (item == nullptr)
    return;
 
  adding_new_group_ = false;
 
  // Get the user custom properties of the currently selected row
  PlanGroupType plan_group = item->data(0, Qt::UserRole).value<PlanGroupType>();
 
  switch (plan_group.type_)
  {
    case JOINT:
      loadJointsScreen(plan_group.group_);
      break;
    case LINK:
      loadLinksScreen(plan_group.group_);
      break;
    case CHAIN:
      loadChainScreen(plan_group.group_);
      break;
    case SUBGROUP:
      loadSubgroupsScreen(plan_group.group_);
      break;
    case GROUP:
      loadGroupScreen(plan_group.group_);
      break;
    default:
      QMessageBox::critical(this, "Error Loading", "An internal error has occurred while loading.");
      return;
  }
  return_screen_ = 0;  // return to main screen directly
  changeScreen(plan_group.type_);
}
 
// ******************************************************************************************
// Load the popup screen with correct data for joints
// ******************************************************************************************
void PlanningGroupsWidget::loadJointsScreen(srdf::Model::Group* this_group)
{
  // Get the names of the all joints
  const std::vector<std::string>& joints = setup_step_.getJointNames();
 
  if (joints.empty())
  {
    QMessageBox::critical(this, "Error Loading", "No joints found for robot model");
    return;
  }
 
  // Set the available joints (left box)
  joints_widget_->setAvailable(joints);
 
  // Set the selected joints (right box)
  joints_widget_->setSelected(this_group->joints_);
 
  // Set the title
  joints_widget_->title_->setText(
      QString("Edit '").append(QString::fromUtf8(this_group->name_.c_str())).append("' Joint Collection"));
 
  // Remember what is currently being edited so we can later save changes
  current_edit_group_ = this_group->name_;
}
 
// ******************************************************************************************
// Load the popup screen with correct data for links
// ******************************************************************************************
void PlanningGroupsWidget::loadLinksScreen(srdf::Model::Group* this_group)
{
  // Get the names of the all links
  const std::vector<std::string>& links = setup_step_.getLinkNames();
 
  if (links.empty())
  {
    QMessageBox::critical(this, "Error Loading", "No links found for robot model");
    return;
  }
 
  // Set the available links (left box)
  links_widget_->setAvailable(links);
 
  // Set the selected links (right box)
  links_widget_->setSelected(this_group->links_);
 
  // Set the title
  links_widget_->title_->setText(
      QString("Edit '").append(QString::fromUtf8(this_group->name_.c_str())).append("' Link Collection"));
 
  // Remember what is currently being edited so we can later save changes
  current_edit_group_ = this_group->name_;
}
 
// ******************************************************************************************
// Load the popup screen with correct data for chains
// ******************************************************************************************
void PlanningGroupsWidget::loadChainScreen(srdf::Model::Group* this_group)
{
  chain_widget_->setAvailable(setup_step_.getLinkNameTree());
 
  // Make sure there isn't more than 1 chain pair
  if (this_group->chains_.size() > 1)
  {
    QMessageBox::warning(this, "Multiple Kinematic Chains",
                         "Warning: This setup assistant is only designed to handle "
                         "one kinematic chain per group. The loaded SRDF has more "
                         "than one kinematic chain for a group. A possible loss of "
                         "data may occur.");
  }
 
  // Set the selected tip and base of chain if one exists
  if (!this_group->chains_.empty())
  {
    chain_widget_->setSelected(this_group->chains_[0].first, this_group->chains_[0].second);
  }
 
  // Set the title
  chain_widget_->title_->setText(
      QString("Edit '").append(QString::fromUtf8(this_group->name_.c_str())).append("' Kinematic Chain"));
 
  // Remember what is currently being edited so we can later save changes
  current_edit_group_ = this_group->name_;
}
 
// ******************************************************************************************
// Load the popup screen with correct data for subgroups
// ******************************************************************************************
void PlanningGroupsWidget::loadSubgroupsScreen(srdf::Model::Group* this_group)
{
  // Load all groups into the subgroup screen except the current group
  std::vector<std::string> subgroups;
 
  // Display all groups by looping through them
  for (const std::string& group_name : setup_step_.getGroupNames())
  {
    if (group_name != this_group->name_)  //  do not include current group
    {
      // add to available subgroups list
      subgroups.push_back(group_name);
    }
  }
 
  // Set the available subgroups (left box)
  subgroups_widget_->setAvailable(subgroups);
 
  // Set the selected subgroups (right box)
  subgroups_widget_->setSelected(this_group->subgroups_);
 
  // Set the title
  subgroups_widget_->title_->setText(
      QString("Edit '").append(QString::fromUtf8(this_group->name_.c_str())).append("' Subgroups"));
 
  // Remember what is currently being edited so we can later save changes
  current_edit_group_ = this_group->name_;
}
 
// ******************************************************************************************
// Load the popup screen with correct data for groups
// ******************************************************************************************
void PlanningGroupsWidget::loadGroupScreen(srdf::Model::Group* this_group)
{
  // Load the avail kin solvers. This function only runs once
  group_edit_widget_->loadKinematicPlannersComboBox();
 
  if (this_group == nullptr)  // this is a new screen
  {
    current_edit_group_.clear();  // provide a blank group name
    group_edit_widget_->title_->setText("Create New Planning Group");
    group_edit_widget_->btn_delete_->hide();
    group_edit_widget_->new_buttons_widget_->show();  // helps user choose next step
    group_edit_widget_->btn_save_->hide();            // this is only for edit mode
  }
  else  // load the group name into the widget
  {
    current_edit_group_ = this_group->name_;
    group_edit_widget_->title_->setText(
        QString("Edit Planning Group '").append(current_edit_group_.c_str()).append("'"));
    group_edit_widget_->btn_delete_->show();
    group_edit_widget_->new_buttons_widget_->hide();  // not necessary for existing groups
    group_edit_widget_->btn_save_->show();            // this is only for edit mode
  }
 
  // Set the data in the edit box
  group_edit_widget_->setSelected(current_edit_group_, setup_step_.getMetaData(current_edit_group_));
}
 
// ******************************************************************************************
// Delete a group
// ******************************************************************************************
void PlanningGroupsWidget::deleteGroup()
{
  std::string group_to_delete = current_edit_group_;
  if (group_to_delete.empty())
  {
    QTreeWidgetItem* item = groups_tree_->currentItem();
    // Check that something was actually selected
    if (item == nullptr)
      return;
    // Get the user custom properties of the currently selected row
    PlanGroupType plan_group = item->data(0, Qt::UserRole).value<PlanGroupType>();
    if (plan_group.group_)
      group_to_delete = plan_group.group_->name_;
  }
  else
    current_edit_group_.clear();
  if (group_to_delete.empty())
    return;
 
  // Confirm user wants to delete group
  if (QMessageBox::question(this, "Confirm Group Deletion",
                            QString("Are you sure you want to delete the planning group '")
                                .append(group_to_delete.c_str())
                                .append("'? This will also delete all references in subgroups, robot poses and end "
                                        "effectors."),
                            QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Cancel)
  {
    return;
  }
 
  // Ensure we want to delete the states
  std::vector<std::string> pose_names = setup_step_.getPosesByGroup(group_to_delete);
  if (!pose_names.empty() &&
      QMessageBox::question(
          this, "Confirm Group State Deletion",
          QString("The group that is about to be deleted has robot poses (robot states) that depend on this "
                  "group. Are you sure you want to delete this group as well as all dependent robot poses?"),
          QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Cancel)
  {
    return;
  }
  // Ensure we want to delete the end_effectors
  std::vector<std::string> eef_names = setup_step_.getEndEffectorsByGroup(group_to_delete);
  if (!eef_names.empty() &&
      QMessageBox::question(
          this, "Confirm End Effector Deletion",
          QString("The group that is about to be deleted has end effectors (grippers) that depend on this "
                  "group. Are you sure you want to delete this group as well as all dependent end effectors?"),
          QMessageBox::Ok | QMessageBox::Cancel) == QMessageBox::Cancel)
  {
    return;
  }
 
  setup_step_.deleteGroup(group_to_delete);
 
  // Switch to main screen
  showMainScreen();
 
  // Reload main screen table
  loadGroupsTree();
}
 
// ******************************************************************************************
// Create a new, empty group
// ******************************************************************************************
void PlanningGroupsWidget::addGroup()
{
  adding_new_group_ = true;
 
  // Load the data
  loadGroupScreen(nullptr);  // nullptr indicates this is a new group, not an existing one
 
  // Switch to screen
  changeScreen(GROUP);
}
 
// ******************************************************************************************
// Call when joints edit screen is done and needs to be saved
// ******************************************************************************************
void PlanningGroupsWidget::saveJointsScreen()
{
  setup_step_.setJoints(current_edit_group_, joints_widget_->getSelectedValues());
 
  // Switch to main screen
  showMainScreen();
 
  // Reload main screen table
  loadGroupsTree();
}
 
// ******************************************************************************************
// Call when links edit screen is done and needs to be saved
// ******************************************************************************************
void PlanningGroupsWidget::saveLinksScreen()
{
  setup_step_.setLinks(current_edit_group_, links_widget_->getSelectedValues());
 
  // Switch to main screen
  showMainScreen();
 
  // Reload main screen table
  loadGroupsTree();
}
 
// ******************************************************************************************
// Call when chains edit screen is done and needs to be saved
// ******************************************************************************************
void PlanningGroupsWidget::saveChainScreen()
{
  // Get a reference to the supplied strings
  const std::string& tip = chain_widget_->tip_link_field_->text().trimmed().toStdString();
  const std::string& base = chain_widget_->base_link_field_->text().trimmed().toStdString();
 
  try
  {
    setup_step_.setChain(current_edit_group_, base, tip);
  }
  catch (const std::runtime_error& e)
  {
    QMessageBox::warning(this, "Error Saving", e.what());
    return;
  }
 
  // Switch to main screen
  showMainScreen();
 
  // Reload main screen table
  loadGroupsTree();
}
 
// ******************************************************************************************
// Call when subgroups edit screen is done and needs to be saved
// ******************************************************************************************
void PlanningGroupsWidget::saveSubgroupsScreen()
{
  try
  {
    setup_step_.setSubgroups(current_edit_group_, subgroups_widget_->getSelectedValues());
  }
  catch (const std::runtime_error& e)
  {
    QMessageBox::warning(this, "Error Saving", e.what());
    return;
  }
 
  // Switch to main screen
  showMainScreen();
 
  // Reload main screen table
  loadGroupsTree();
}
 
// ******************************************************************************************
// Call when groups edit screen is done and needs to be saved
// ******************************************************************************************
bool PlanningGroupsWidget::saveGroupScreen()
{
  const std::string& group_name = group_edit_widget_->group_name_field_->text().trimmed().toStdString();
 
  GroupMetaData meta_data;
  meta_data.kinematics_solver_ = group_edit_widget_->kinematics_solver_field_->currentText().toStdString();
  meta_data.kinematics_parameters_file_ = group_edit_widget_->kinematics_parameters_file_field_->text().toStdString();
  meta_data.default_planner_ = group_edit_widget_->default_planner_field_->currentText().toStdString();
  if (meta_data.default_planner_ == "None")
  {
    meta_data.default_planner_ = "";
  }
 
  // Check that a valid group name has been given
  if (group_name.empty())
  {
    QMessageBox::warning(this, "Error Saving", "A name must be given for the group!");
    return false;
  }
 
  // Check that the resolution is an double number
  const std::string& kinematics_resolution = group_edit_widget_->kinematics_resolution_field_->text().toStdString();
  try
  {
    meta_data.kinematics_solver_search_resolution_ = boost::lexical_cast<double>(kinematics_resolution);
  }
  catch (boost::bad_lexical_cast&)
  {
    QMessageBox::warning(this, "Error Saving", "Unable to convert kinematics resolution to a double number.");
    return false;
  }
 
  // Check that the timeout is a double number
  const std::string& kinematics_timeout = group_edit_widget_->kinematics_timeout_field_->text().toStdString();
  try
  {
    meta_data.kinematics_solver_timeout_ = boost::lexical_cast<double>(kinematics_timeout);
  }
  catch (boost::bad_lexical_cast&)
  {
    QMessageBox::warning(this, "Error Saving", "Unable to convert kinematics solver timeout to a double number.");
    return false;
  }
 
  // Check that all numbers are >0
  if (meta_data.kinematics_solver_search_resolution_ <= 0)
  {
    QMessageBox::warning(this, "Error Saving", "Kinematics solver search resolution must be greater than 0.");
    return false;
  }
  if (meta_data.kinematics_solver_timeout_ <= 0)
  {
    QMessageBox::warning(this, "Error Saving", "Kinematics solver search timeout must be greater than 0.");
    return false;
  }
 
  try
  {
    adding_new_group_ = current_edit_group_.empty();
    setup_step_.get(group_name, current_edit_group_);
  }
  catch (const std::runtime_error& e)
  {
    QMessageBox::warning(this, "Error Saving", e.what());
    return false;
  }
 
  setup_step_.setMetaData(group_name, meta_data);
 
  // Reload main screen table
  loadGroupsTree();
 
  // Update the current edit group so that we can proceed to the next screen, if user desires
  current_edit_group_ = group_name;
 
  return true;
}
 
// ******************************************************************************************
// Call when a new group is created and ready to progress to next screen
// ******************************************************************************************
void PlanningGroupsWidget::saveGroupScreenEdit()
{
  // Save the group
  if (!saveGroupScreen())
    return;
 
  // Switch to main screen
  showMainScreen();
}
 
// ******************************************************************************************
// Call when a new group is created and ready to progress to next screen
// ******************************************************************************************
void PlanningGroupsWidget::saveGroupScreenJoints()
{
  // Save the group
  if (!saveGroupScreen())
    return;
 
  // Find the group we are editing based on the group name string
  loadJointsScreen(setup_step_.find(current_edit_group_));
  return_screen_ = GROUP;
 
  // Switch to screen
  changeScreen(JOINT);
}
 
// ******************************************************************************************
// Call when a new group is created and ready to progress to next screen
// ******************************************************************************************
void PlanningGroupsWidget::saveGroupScreenLinks()
{
  // Save the group
  if (!saveGroupScreen())
    return;
 
  // Find the group we are editing based on the group name string
  loadLinksScreen(setup_step_.find(current_edit_group_));
  return_screen_ = GROUP;
 
  // Switch to screen
  changeScreen(LINK);
}
 
// ******************************************************************************************
// Call when a new group is created and ready to progress to next screen
// ******************************************************************************************
void PlanningGroupsWidget::saveGroupScreenChain()
{
  // Save the group
  if (!saveGroupScreen())
    return;
 
  // Find the group we are editing based on the group name string
  loadChainScreen(setup_step_.find(current_edit_group_));
  return_screen_ = GROUP;
 
  // Switch to screen
  changeScreen(CHAIN);
}
 
// ******************************************************************************************
// Call when a new group is created and ready to progress to next screen
// ******************************************************************************************
void PlanningGroupsWidget::saveGroupScreenSubgroups()
{
  // Save the group
  if (!saveGroupScreen())
    return;
 
  // Find the group we are editing based on the group name string
  loadSubgroupsScreen(setup_step_.find(current_edit_group_));
  return_screen_ = GROUP;
 
  // Switch to screen
  changeScreen(SUBGROUP);
}
 
// ******************************************************************************************
// Call when edit screen is canceled
// ******************************************************************************************
void PlanningGroupsWidget::cancelEditing()
{
  if (return_screen_)
  {
    changeScreen(return_screen_);
    return_screen_ = 0;
    return;
  }
  if (!current_edit_group_.empty() && adding_new_group_)
  {
    srdf::Model::Group* editing = setup_step_.find(current_edit_group_);
    if (editing && editing->joints_.empty() && editing->links_.empty() && editing->chains_.empty() &&
        editing->subgroups_.empty())
    {
      setup_step_.deleteGroup(editing->name_);
      current_edit_group_.clear();
      // Load the data to the tree
      loadGroupsTree();
    }
  }
 
  // Switch to main screen
  showMainScreen();
}
 
// ******************************************************************************************
// Called when setup assistant navigation switches to this screen
// ******************************************************************************************
void PlanningGroupsWidget::focusGiven()
{
  // Show the current groups screen
  showMainScreen();
 
  // Load the data to the tree
  loadGroupsTree();
}
 
// ******************************************************************************************
// Expand/Collapse Tree
// ******************************************************************************************
void PlanningGroupsWidget::alterTree(const QString& link)
{
  if (link.contains("expand"))
  {
    groups_tree_->expandAll();
  }
  else
  {
    groups_tree_->collapseAll();
  }
}
 
// ******************************************************************************************
// Switch to current groups view
// ******************************************************************************************
void PlanningGroupsWidget::showMainScreen()
{
  stacked_widget_->setCurrentIndex(0);
 
  // Announce that this widget is not in modal mode anymore
  Q_EMIT setModalMode(false);
}
 
// ******************************************************************************************
// Switch which screen is being shown
// ******************************************************************************************
void PlanningGroupsWidget::changeScreen(int index)
{
  stacked_widget_->setCurrentIndex(index);
 
  // Announce this widget's mode
  Q_EMIT setModalMode(index != 0);
}
 
// ******************************************************************************************
// Called from Double List widget to highlight a link
// ******************************************************************************************
void PlanningGroupsWidget::previewSelectedLink(const std::vector<std::string>& links)
{
  // Unhighlight all links
  rviz_panel_->unhighlightAll();
 
  for (const std::string& link : links)
  {
    if (link.empty())
    {
      continue;
    }
 
    // Highlight link
    rviz_panel_->highlightLink(link, QColor(255, 0, 0));
  }
}
 
// ******************************************************************************************
// Called from Double List widget to highlight joints
// ******************************************************************************************
void PlanningGroupsWidget::previewSelectedJoints(const std::vector<std::string>& joints)
{
  // Unhighlight all links
  rviz_panel_->unhighlightAll();
 
  for (const std::string& joint : joints)
  {
    const std::string link = setup_step_.getChildOfJoint(joint);
    if (link.empty())
    {
      continue;
    }
 
    // Highlight link
    rviz_panel_->highlightLink(link, QColor(255, 0, 0));
  }
}
 
// ******************************************************************************************
// Called from Double List widget to highlight a subgroup
// ******************************************************************************************
void PlanningGroupsWidget::previewSelectedSubgroup(const std::vector<std::string>& groups)
{
  // Unhighlight all links
  rviz_panel_->unhighlightAll();
 
  for (const std::string& group : groups)
  {
    // Highlight group
    rviz_panel_->highlightGroup(group);
  }
}
 
// ******************************************************************************************
// ******************************************************************************************
// CLASS
// ******************************************************************************************
// ******************************************************************************************
 
PlanGroupType::PlanGroupType(srdf::Model::Group* group, const GroupType type) : group_(group), type_(type)
{
}
 
}  // namespace srdf_setup
}  // namespace moveit_setup
 
#include <pluginlib/class_list_macros.hpp>  // NOLINT
PLUGINLIB_EXPORT_CLASS(moveit_setup::srdf_setup::PlanningGroupsWidget, moveit_setup::SetupStepWidget)